private bool CheckIntersection(Vec3 p, Vec3 direction, Vec3 edge1, Vec3 edge2, Vec3 v0, Vec3 h, float f, ref float t, ref float u, ref float v)
{
Vec3 s = p - v0;
u = f * s.dot(h);
if (u < 0f || u > 1f)
{
return(false);
}
Vec3 q = s.Cross(edge1);
v = f * direction.dot(q);
if (v < 0f || v > 1f)
{
return(false);
}
if (u + v > 1f)
{
return(false);
}
t = f * edge2.dot(q);
return(true);
}
public List <Vec3> GetAllVoxelOnPlane(Vec3 p1, Vec3 p2, Vec3 p3, bool getAll)
{
List <Vec3> result = new List <Vec3>();
Vec3 normal = (p2 - p1).Cross((p3 - p1));
float d = -p1.dot(normal);
uint resolution = xResolution;
Vec3 mainDirection = new Vec3(1, 0, 0);
if (Math.Abs(normal.x) < Math.Abs(normal.y))
{
if (Math.Abs(normal.z) < Math.Abs(normal.y))
{
resolution = yResolution;
mainDirection = new Vec3(0, 1, 0);
}
else
{
resolution = zResolution;
mainDirection = new Vec3(0, 0, 1);
}
}
else if (Math.Abs(normal.x) < Math.Abs(normal.z))
{
resolution = zResolution;
mainDirection = new Vec3(0, 0, 1);
}
Vec3 planeCoord1 = new Vec3(mainDirection.z, mainDirection.x, mainDirection.y);
Vec3 planeCoord2 = new Vec3(mainDirection.y, mainDirection.z, mainDirection.x);
float min = -d / mainDirection.dot(normal);
float max = min;
float tmp = -(d + (planeCoord1 * resolution).dot(normal)) / mainDirection.dot(normal);
min = tmp < min ? tmp : min;
max = tmp > max ? tmp : max;
tmp = -(d + (planeCoord2 * resolution).dot(normal)) / mainDirection.dot(normal);
min = tmp < min ? tmp : min;
max = tmp > max ? tmp : max;
tmp = -(d + (planeCoord1 * resolution + planeCoord2 * resolution).dot(normal)) / mainDirection.dot(normal);
min = tmp < min ? tmp : min;
max = tmp > max ? tmp : max;
min = (float)Math.Floor(min);
max = (float)Math.Ceiling(max);
min = min < 0 ? 0 : min;
max = max > resolution ? resolution : max;
Vec3 maxHeightVector = mainDirection * max;
if (max - min > 1)
{
Vec3 point1 = new Vec3();
Vec3 point2 = new Vec3();
Vec3 maxVector1 = planeCoord1 * resolution;
Vec3 minVector1 = new Vec3(0, 0, 0);
Vec3 minVector2 = new Vec3();
Vec3 maxVector2 = new Vec3();
Vec3 lineNormal = normal.Cross(mainDirection);
lineNormal.Normalize();
float t;
float dotTmp;
Vec3 tmpVec;
Vec3 tmpResult = new Vec3();
if (lineNormal.dot(planeCoord1) == 0)
{
tmpVec = planeCoord1;
planeCoord1 = planeCoord2;
planeCoord2 = tmpVec;
maxVector1 = planeCoord1 * resolution;
minVector1 = new Vec3(0, 0, 0);
}
for (Vec3 mainVec = mainDirection * min; mainVec != maxHeightVector; mainVec = mainVec + mainDirection)
{
if (normal.dot(planeCoord1) != 0)
{
point1 = planeCoord1 * -(mainVec.dot(normal) + d) / (normal.dot(planeCoord1)) + mainVec;
point2 = planeCoord1 * -((mainVec + mainDirection).dot(normal) + d) / (normal.dot(planeCoord1)) + (mainVec + mainDirection);
}
else
{
point1 = planeCoord2 * -(mainVec.dot(normal) + d) / (normal.dot(planeCoord2)) + mainVec;
point2 = planeCoord2 * -((mainVec + mainDirection).dot(normal) + d) / (normal.dot(planeCoord2)) + (mainVec + mainDirection);
}
for (Vec3 direction1 = minVector1; direction1 != maxVector1; direction1 += planeCoord1)
{
dotTmp = lineNormal.dot(planeCoord1);
t = (direction1 + mainVec - point1).dot(planeCoord1) / dotTmp;
minVector2 = point1 + lineNormal * t;
t = (direction1 + mainVec + mainDirection - point2).dot(planeCoord1) / dotTmp;
maxVector2 = point2 + lineNormal * t;
dotTmp = maxVector2.dot(planeCoord2);
if (dotTmp < minVector2.dot(planeCoord2))
{
tmpVec = minVector2;
minVector2 = maxVector2;
maxVector2 = tmpVec;
dotTmp = maxVector2.dot(planeCoord2);
}
if (dotTmp < 0)
{
continue;
}
if ((dotTmp + 1) > resolution)
{
maxVector2 = planeCoord1 * maxVector2.dot(planeCoord1) + planeCoord2 * resolution + mainVec;
}
else
{
maxVector2 = planeCoord1 * maxVector2.dot(planeCoord1) + planeCoord2 * (dotTmp + 1) + mainVec;
}
dotTmp = minVector2.dot(planeCoord2);
if (dotTmp > resolution)
{
continue;
}
if (dotTmp < 0)
{
minVector2 = planeCoord1 * (minVector2.dot(planeCoord1)) + mainVec;
}
minVector2 = direction1 + mainVec + planeCoord2 * (float)Math.Floor(planeCoord2.dot(minVector2));
maxVector2 = direction1 + mainVec + planeCoord2 * (float)Math.Ceiling(planeCoord2.dot(maxVector2));
for (Vec3 direction2 = minVector2; direction2 != maxVector2; direction2 += planeCoord2)
{
tmpResult.x = (float)Math.Floor(direction2.x);
tmpResult.y = (float)Math.Floor(direction2.y);
tmpResult.z = (float)Math.Floor(direction2.z);
if (grid[(int)tmpResult.x, (int)tmpResult.y, (int)tmpResult.z].set || getAll)
{
result.Add(tmpResult);
}
}
}
}
}
else
{
Vec3 pos;
for (int i = 0; i < resolution; ++i)
{
for (int j = 0; j < resolution; ++j)
{
pos = planeCoord1 * i + planeCoord2 * j + maxHeightVector;
if (grid[(int)pos.x, (int)pos.y, (int)pos.z].set || getAll)
{
result.Add(pos);
}
}
}
}
return(result);
}
private void FindOverlappedIndices(Vec3[] face, Vec3 normal)
{
Vec3[] newCoord = new Vec3[3];
uint i;
Vec3[] projectedCoord = new Vec3[3];
for (i = 0; i < 3; ++i)
{
newCoord[i] = new Vec3();
newCoord[i].x = (face[i].x - minOffset.x) / sizeVoxel;
newCoord[i].y = (face[i].y - minOffset.y) / sizeVoxel;
newCoord[i].z = (face[i].z - minOffset.z) / sizeVoxel;
projectedCoord[i] = newCoord[i].outer(planeCoord1) + newCoord[i].outer(planeCoord2);
}
float normalSign = normal.dot(direction);
Vec3 min = new Vec3(), max = new Vec3();
Utility.CalcBoundingBox(projectedCoord, ref min, ref max);
Vec3 edge1 = newCoord[1] - newCoord[0];
Vec3 edge2 = newCoord[2] - newCoord[0];
Vec3 h = direction.Cross(edge2);
float f = 1f / edge1.dot(h);
Vec3[] normals = new Vec3[3];
Vec3[] normals3d = new Vec3[3];
float t = 0;
float u = 0;
float v = 0;
for (i = 0; i < 3; ++i)
{
if (normalSign >= 0)
{
normals[i] = planeCoord1 * (projectedCoord[i].dot(planeCoord2) - projectedCoord[(i + 1) % 3].dot(planeCoord2)) + planeCoord2 * (projectedCoord[(i + 1) % 3].dot(planeCoord1) - projectedCoord[i].dot(planeCoord1));
}
else
{
normals[i] = planeCoord1 * (projectedCoord[(i + 1) % 3].dot(planeCoord2) - projectedCoord[i].dot(planeCoord2)) + planeCoord2 * (projectedCoord[i].dot(planeCoord1) - projectedCoord[(i + 1) % 3].dot(planeCoord1));
}
normals[i].Normalize();
}
min.x = (float)Math.Floor(min.x);
min.y = (float)Math.Floor(min.y);
min.z = (float)Math.Floor(min.z);
max.x = (float)Math.Ceiling(max.x);
max.y = (float)Math.Ceiling(max.y);
max.z = (float)Math.Ceiling(max.z);
Vec3 min1 = new Vec3();
Vec3 min2 = new Vec3();
Vec3 max1 = new Vec3();
Vec3 max2 = new Vec3();
min1.x = min.x * planeCoord1.x;
min1.y = min.y * planeCoord1.y;
min1.z = min.z * planeCoord1.z;
min2.x = min.x * planeCoord2.x;
min2.y = min.y * planeCoord2.y;
min2.z = min.z * planeCoord2.z;
max1.x = max.x * planeCoord1.x;
max1.y = max.y * planeCoord1.y;
max1.z = max.z * planeCoord1.z;
max2.x = max.x * planeCoord2.x;
max2.y = max.y * planeCoord2.y;
max2.z = max.z * planeCoord2.z;
Vec3 tmp;
Vec3 pos;
bool[] leftEdge = new bool[3];
for (i = 0; i < 3; ++i)
{
leftEdge[i] = normals[i].compareGreater(0, planeCoord1);
leftEdge[i] |= normals[i].compareEqual(0, planeCoord1) && normals[i].compareSmaller(0, planeCoord2);
}
float epsilon = 0.00000001f;
bool edge = true;
for (Vec3 dir1 = min1; dir1 != max1; dir1 += planeCoord1)
{
for (Vec3 dir2 = min2; dir2 != max2; dir2 += planeCoord2)
{
edge = true;
tmp = dir1 + dir2 + planeCoord1 * 0.5f + planeCoord2 * 0.5f;
if (CheckIntersection(tmp, direction, edge1, edge2, newCoord[0], h, f, ref t, ref u, ref v))
{
if (u < (0f + epsilon))
{
edge = edge && leftEdge[2];
}
if (v < (0f + epsilon))
{
edge = edge && leftEdge[0];
}
if ((u + v - 1f) < (0f + epsilon) && (u + v - 1f) > (0f - epsilon))
{
edge = edge && leftEdge[1];
}
if (edge)
{
pos = tmp + direction * t;
grid[(int)Math.Floor(pos.x), (int)Math.Floor(pos.y), (int)Math.Floor(pos.z)].set ^= true;
}
}
}
}
}
private void CreateStart()
{
float lowestX = points[0].x, highestX = points[0].x;
float lowestY = points[0].y, highestY = points[0].y;
float lowestZ = points[0].z, highestZ = points[0].z;
int[] lowest = new int[3];
int[] highest = new int[3];
int listSize = points.Count;
Vec3 point;
for (int i = 0; i < listSize; ++i)
{
point = points[i];
if (point.x < lowestX)
{
lowestX = point.x;
lowest[0] = i;
}
if (point.x > highestX)
{
highestX = point.x;
highest[0] = i;
}
if (point.y < lowestY)
{
lowestY = point.y;
lowest[1] = i;
}
if (point.y > highestY)
{
highestY = point.y;
highest[1] = i;
}
if (point.z < lowestZ)
{
lowestZ = point.z;
lowest[2] = i;
}
if (point.z > highestZ)
{
highestZ = point.z;
highest[2] = i;
}
}
int greatestDistanceUp = lowest[0];
int greatestDistanceDown = highest[0];
Vec3 distanceVec = points[greatestDistanceDown] - points[greatestDistanceUp];
float maxDistance = distanceVec.dot(distanceVec);
float tmpDistance = 0;
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
{
distanceVec = points[lowest[i]] - points[highest[j]];
tmpDistance = distanceVec.dot(distanceVec);
if (tmpDistance > maxDistance)
{
greatestDistanceUp = lowest[i];
greatestDistanceDown = highest[j];
maxDistance = tmpDistance;
}
}
}
distanceVec = points[greatestDistanceDown] - points[greatestDistanceUp];
int distanceIdx = 0;
Vec3 tmpVec;
float newMaxDistance = 0;
for (int i = 0; i < 3; ++i)
{
tmpVec = distanceVec.Cross(points[greatestDistanceUp] - points[lowest[i]]);
tmpDistance = (tmpVec).dot(tmpVec) / maxDistance;
if (tmpDistance > newMaxDistance)
{
distanceIdx = lowest[i];
newMaxDistance = tmpDistance;
}
}
for (int i = 0; i < 3; ++i)
{
tmpVec = distanceVec.Cross(points[greatestDistanceUp] - points[highest[i]]);
tmpDistance = (tmpVec).dot(tmpVec) / maxDistance;
if (tmpDistance > newMaxDistance)
{
distanceIdx = highest[i];
newMaxDistance = tmpDistance;
}
}
Vec3 normal = (distanceVec.Cross(points[greatestDistanceDown] - points[distanceIdx]));
normal.Normalize();
newMaxDistance = 0;
int distanceIdx2 = 0;
for (int i = 0; i < 3; ++i)
{
tmpDistance = Math.Abs(normal.dot(points[distanceIdx] - points[lowest[i]]));
if (tmpDistance > newMaxDistance)
{
distanceIdx2 = lowest[i];
newMaxDistance = tmpDistance;
}
}
for (int i = 0; i < 3; ++i)
{
tmpDistance = Math.Abs(normal.dot(points[distanceIdx] - points[highest[i]]));
if (tmpDistance > newMaxDistance)
{
distanceIdx2 = highest[i];
newMaxDistance = tmpDistance;
}
}
if (normal.dot(points[distanceIdx2] - points[distanceIdx]) > 0)
{
//Face 0
HalfEdge newHalfEdge = new HalfEdge();
newHalfEdge.vertex = greatestDistanceUp;
newHalfEdge.face = 0;
newHalfEdge.opposite = 3;
edges.Add(newHalfEdge);
newHalfEdge.vertex = distanceIdx;
newHalfEdge.face = 0;
newHalfEdge.opposite = 6;
edges.Add(newHalfEdge);
newHalfEdge.vertex = greatestDistanceDown;
newHalfEdge.face = 0;
newHalfEdge.opposite = 9;
edges.Add(newHalfEdge);
//Face 1
newHalfEdge.vertex = greatestDistanceDown;
newHalfEdge.face = 1;
newHalfEdge.opposite = 0;
edges.Add(newHalfEdge);
newHalfEdge.vertex = distanceIdx2;
newHalfEdge.face = 1;
newHalfEdge.opposite = 11;
edges.Add(newHalfEdge);
newHalfEdge.vertex = greatestDistanceUp;
newHalfEdge.face = 1;
newHalfEdge.opposite = 7;
edges.Add(newHalfEdge);
//Face2
newHalfEdge.vertex = greatestDistanceUp;
newHalfEdge.face = 2;
newHalfEdge.opposite = 1;
edges.Add(newHalfEdge);
newHalfEdge.vertex = distanceIdx2;
newHalfEdge.face = 2;
newHalfEdge.opposite = 5;
edges.Add(newHalfEdge);
newHalfEdge.vertex = distanceIdx;
newHalfEdge.face = 2;
newHalfEdge.opposite = 10;
edges.Add(newHalfEdge);
//Face3
newHalfEdge.vertex = distanceIdx;
newHalfEdge.face = 3;
newHalfEdge.opposite = 2;
edges.Add(newHalfEdge);
newHalfEdge.vertex = distanceIdx2;
newHalfEdge.face = 3;
newHalfEdge.opposite = 8;
edges.Add(newHalfEdge);
newHalfEdge.vertex = greatestDistanceDown;
newHalfEdge.face = 3;
newHalfEdge.opposite = 4;
edges.Add(newHalfEdge);
}
else
{
//Face 0
HalfEdge newHalfEdge = new HalfEdge();
newHalfEdge.vertex = distanceIdx;
newHalfEdge.face = 0;
newHalfEdge.opposite = 11;
edges.Add(newHalfEdge);
newHalfEdge.vertex = greatestDistanceUp;
newHalfEdge.face = 0;
newHalfEdge.opposite = 8;
edges.Add(newHalfEdge);
newHalfEdge.vertex = greatestDistanceDown;
newHalfEdge.face = 0;
newHalfEdge.opposite = 5;
edges.Add(newHalfEdge);
//Face 1
newHalfEdge.vertex = distanceIdx2;
newHalfEdge.face = 1;
newHalfEdge.opposite = 7;
edges.Add(newHalfEdge);
newHalfEdge.vertex = greatestDistanceDown;
newHalfEdge.face = 1;
newHalfEdge.opposite = 9;
edges.Add(newHalfEdge);
newHalfEdge.vertex = greatestDistanceUp;
newHalfEdge.face = 1;
newHalfEdge.opposite = 2;
edges.Add(newHalfEdge);
//Face2
newHalfEdge.vertex = distanceIdx2;
newHalfEdge.face = 2;
newHalfEdge.opposite = 10;
edges.Add(newHalfEdge);
newHalfEdge.vertex = greatestDistanceUp;
newHalfEdge.face = 2;
newHalfEdge.opposite = 3;
edges.Add(newHalfEdge);
newHalfEdge.vertex = distanceIdx;
newHalfEdge.face = 2;
newHalfEdge.opposite = 1;
edges.Add(newHalfEdge);
//Face3
newHalfEdge.vertex = distanceIdx2;
newHalfEdge.face = 3;
newHalfEdge.opposite = 4;
edges.Add(newHalfEdge);
newHalfEdge.vertex = distanceIdx;
newHalfEdge.face = 3;
newHalfEdge.opposite = 6;
edges.Add(newHalfEdge);
newHalfEdge.vertex = greatestDistanceDown;
newHalfEdge.face = 3;
newHalfEdge.opposite = 0;
edges.Add(newHalfEdge);
}
Face newFace = new Face();
for (int i = 0; i < 4; ++i)
{
newFace.halfEdge = i * 3;
newFace.normal = ((points[edges[i * 3 + 2].vertex] - points[edges[i * 3].vertex]).Cross(points[edges[i * 3 + 1].vertex] - points[edges[i * 3].vertex]));
newFace.normal.Normalize();
newFace.pointList = -1;
faces.Add(newFace);
}
}